RACS V1 is the first reproducible experimental release of the Risk-Aware Coordination System (RACS), an open coordination layer for autonomous operations.
What V1 demonstrates
V1 evaluates whether observable operational degradation in an AMR-based warehouse can be detected early enough for a separate risk-aware coordination layer to intervene before or during downstream propagation.
The experiment includes:
- deterministic warehouse task/service simulation
- progressive AMR service degradation
- conventional reactive hard-failure recovery baseline
- observable robot-level anomaly attribution
- predictive RACS drain/cordon coordination
- downstream workstation propagation modeling
- paired healthy counterfactuals for downstream attribution
- disturbance-time WIP resilience conditions
- seeded workload-timing variation
- reproducible experiment outputs and plotting utilities
Robustness evaluation
The frozen V1 study uses:
- 30 paired workload seeds (
1000–1029) - 4 disturbance-time WIP conditions (
0, 1, 2, 4) - healthy, reactive-baseline, and RACS conditions
- 360 total simulation runs
- identical workload realization within every paired comparison
Main results
H1 — Transport coordination: partially supported
RACS improved mean queue AUC and mean task latency across the seeded study, although individual workload realizations included regressions.
- Mean queue AUC delta, RACS − baseline:
-2.9333 - Mean latency delta, RACS − baseline:
-0.0901 - Queue AUC worsened in
24 / 120paired comparisons
H2 — Greater downstream benefit when intervention precedes propagation: not established
Downstream benefit was not greater in the intervention-before-propagation group than in the at/after-propagation group.
H3 — Downstream WIP and intervention headroom: supported within tested conditions
Within the tested WIP levels, greater disturbance-time WIP was associated with a higher fraction of runs in which RACS intervened before downstream propagation:
- WIP 0:
66.7% - WIP 1:
80.0% - WIP 2:
93.3% - WIP 4:
93.3%
One cascade-prevention case was observed at WIP 4. This is reported as a single observed outcome, not as a general claim that RACS prevents cascading failures.
Reproducibility
The experiment implementation was frozen before public result packaging.
Frozen implementation snapshot:
b4764da6193e013c3c2e1f86763597498bc6253f
V1 release tip:
0fc41a0
The repository includes:
- full experiment methodology
- compact reference-result artifacts
- generated figures
- plotting utility
- deterministic seeded workload generation
- automated tests
Limitations
V1 is a discrete-event systems experiment, not a physical-robot validation.
Current limitations include:
- single-site warehouse simulation
- one degrading robot
- service-capacity degradation rather than locomotion dynamics
- deterministic robot service duration
- abstract downstream workstation model
- only workload arrival timing randomized
- 30 seeds with descriptive statistics only
- no statistical-significance claim
- no ROS 2 / Gazebo / physical robot validation
- downstream effect sizes remain small
The V1 results are intended as a reproducible baseline for further independent evaluation and extension.